Kinematic modeling of the constant curvature continuum line drive robot

摘要

Line drive bionic flexible robot is a new type of robot which is based on the biological organs, such as nasal, octopus, snakes and so on. It is according to the performance principle of Chinese traditional folk drama `shadow play'. Recent years, it is gradually becoming a new research hotspot. In this article, it emphatically describes how to design this kind of robot and the relevant kinematics analysis. It also describes the application field and research status of the robot. It is based that the flexible robot is different from ordinary rigid robot, by using the geometric analysis method to put up with a visual line drive flexible robot kinematics algorithm, and describes its 3D work space. At the same time, under the MATLAB software for the robot end location and the drive line length change curve to carry on the simple simulation research, verified the kinematics accuracy of the algorithm.